A control device for a machine tool includes a tool mounted on a main spindle relatively movable with respect to a workpiece and machines the workpiece using the tool. The control device includes: a parameter preparing unit, an evacuation unit, and an evacuation diagnosing unit. The parameter preparing unit preliminarily stores a predetermined parameter relating to a control. The evacuation unit causes the tool to perform an evacuation operation from the workpiece. The evacuation diagnosing unit diagnoses whether the evacuation operation is normal. When the evacuation diagnosing unit diagnoses that the evacuation operation is abnormal, the evacuation operation is cancelled.

A control device for a machine tool in which a tool used to machine a workpiece is mounted to a main spindle that is relatively movable with respect to the workpiece. The control device includes: a parameter preparing unit that stores a predetermined parameter regarding a control in advance; an evacuation unit that causes the tool to perform an evacuation operation from the workpiece; and a chip discharging unit that causes the tool to perform a chip discharging operation. The evacuation operation of the tool by the evacuation unit and the chip discharging operation by the chip discharging unit are performable at respective predetermined timings.

The invention relates to methods for producing a thread with a predetermined thread pitch in a workpiece.

A command analysis unit in a numerical controller analyzes a fixed cycle command in a processing program and outputs the analysis result to a fixed cycle calculation unit. The unit generates a command data sequence including a plurality of command data based on the analysis result. The unit includes a surplus calculation unit calculating a surplus cutting depth based on an overall cutting depth and a cutting depth in each cut, the respective cutting depths being specified by the fixed cycle command and being applied to a workpiece by a tapping tool, and a command data sequence adjustment unit that adjusting the order or the cutting depth of the command data in the command data sequence based on the surplus cutting depth to reduce a total feed movement amount by which the tapping tool moves in accordance with the command data sequence.

A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for accelerating a spindle axis from a starting position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis during acceleration; a residual rotation-amount detecting section for detecting a residual rotation amount of the spindle axis; a current-speed detecting section for detecting a current speed of the spindle axis; a decelerating-motion control section for decelerating the spindle axis to reach an intermediate speed, after the acceleration; a positioning-motion control section for decelerating the spindle axis to reach the target position after reaching the intermediate speed; and a torque-command limiting section for limiting a fluctuation of a torque command of the position control, instructed to the spindle axis, to a predetermined range over a period until a predetermined elapse condition is satisfied after reaching the intermediate speed.

The present invention relates to methods for learning a robot task and robots systems using the same. A robot system may include a robot configured to perform a task, and detect force information related to the task, a haptic controller configured to be manipulatable for teaching the robot, the haptic controller configured to output a haptic feedback based on the force information while teaching of the task to the robot is performed, a sensor configured to sense first information related to a task environment of the robot and second information related to a driving state of the robot, while the teaching is performed by the haptic controller for outputting the haptic feedback, and a computer configured to learn a motion of the robot related to the task, by using the first information and the second information, such that the robot autonomously performs the task.

A controller for a machining-device includes a control-unit. The control-unit sequentially repeats a tapping step of tapping at a tapping-position by moving a tool from a retracted-position to a depth-position while rotating the tool in a normal direction, a retracting step of retracting the tool by moving from the depth-position to the retracted-position while rotating the tool in a reverse direction, and a positioning step of positioning a subsequent tapping-position. The control-unit performs a process including starting the positioning step at the same time as when the tool passes a reference-position in the retracting step, completing the positioning step at the same time as when the tool passes the reference-position in the tapping step, and controlling a timing at which acceleration of a workpiece and the tool finishes in the tapping step and a timing at which deceleration of the workpiece and the tool starts in the retracting step.

A machine learning device includes: a state information acquisition unit configured to cause the control device to execute a tapping program to acquire from the control device, state information including a torque command value with respect to the spindle motor, a drive state including deceleration, a ratio of a movement distance in acceleration and a movement distance in deceleration; an action information output unit configured to output action information including adjustment information of the ratio of the movement distance in acceleration and the movement distance in deceleration, to the control device; a reward output unit configured to output a reward value in reinforcement learning based on a torque command value in deceleration, and a target torque command value in deceleration; and a value function update unit configured to update an action value function based on the reward value, the state information, and the action information.

A controller for a machining-device includes a control-unit. The control-unit sequentially repeats a tapping step of tapping at a tapping-position by moving a tool from a retracted-position to a depth-position while rotating the tool in a normal direction, a retracting step of retracting the tool by moving from the depth-position to the retracted-position while rotating the tool in a reverse direction, and a positioning step of positioning a subsequent tapping-position. The control-unit performs a process including starting the positioning step at the same time as when the tool passes a reference-position in the retracting step, completing the positioning step at the same time as when the tool passes the reference-position in the tapping step, and controlling a timing at which acceleration of a workpiece and the tool finishes in the tapping step and a timing at which deceleration of the workpiece and the tool starts in the retracting step.

A method of configuring a machine (201) for production of a thread, having a pitch (227), on a workpiece (310), the machine (201) comprising: a tool (220) having a thread (223) centred on a first axis (250) and comprising one or more thread-producing peaks (225) for producing the thread having the pitch (227); and a tool holder (210) holding the tool (220), the method comprising: determining a first distance (441), in a first direction (260) parallel to the first axis (250), from a reference position (412) of the tool holder (210) to a first thread-producing peak (226) on the tool (220) when said tool (220) is held in the tool holder (210); and setting a first configuration (401) of the machine (201) wherein the reference position (412) of the tool holder (210) has a displacement (440) parallel to the first axis (250) from a reference position (411) of the workpiece (310) depending only upon: the determined first distance (441); a translation (443) parallel to the first axis (250) to account for an angular offset (340) between the first thread-producing peak (226) and a desired thread start position (311) on the workpiece (310); and an integer multiple (444) of the pitch (227).